Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique

This paper deals with an analysis of intermittent observations for mobile robot localization with Fuzzy Logic approach. Mobile robot can easily lost its sight during environment observations due to several factors such as sensor faulty, and dynamic conditions. This can lead to erroneous estimation a...

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Main Authors:	Hamzah, Ahmad, Nur Aqilah, Othman
Format:	Conference or Workshop Item
Language:	English English
Published:	IEEE 2017
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/15311/ http://umpir.ump.edu.my/id/eprint/15311/ http://umpir.ump.edu.my/id/eprint/15311/1/fkee-2016-hamzah-Investigation%20on%20Intermittent%20Observation1.pdf http://umpir.ump.edu.my/id/eprint/15311/7/fkee-2017-hamzah-%20Investigation%20on%20Intermittent%20Observation%20in%20Mobile%20Robot.pdf

id	ump-15311
recordtype	eprints
spelling	ump-153112018-02-05T06:48:17Z http://umpir.ump.edu.my/id/eprint/15311/ Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique Hamzah, Ahmad Nur Aqilah, Othman TK Electrical engineering. Electronics Nuclear engineering This paper deals with an analysis of intermittent observations for mobile robot localization with Fuzzy Logic approach. Mobile robot can easily lost its sight during environment observations due to several factors such as sensor faulty, and dynamic conditions. This can lead to erroneous estimation and the mobile robot become uncertain about its position. As a solution to this issue, this paper proposed a study on Fuzzy Logic technique to overcome such problem considering the Extended Kalman Filter(EKF) measurement innovation characteristic. The rules and fuzzy sets are designed such that it preserved good estimation whenever the relative angle and its relative distance measurements suddenly becomes larger than the previous measurements. The simulation results discusses two different cases observing the performance of the proposed technique. The results show that EKF with Fuzzy Logic technique is able to deal with intermittent observations if the design takes proper analysis and consideration on the measurement innovations. IEEE 2017 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/15311/1/fkee-2016-hamzah-Investigation%20on%20Intermittent%20Observation1.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/15311/7/fkee-2017-hamzah-%20Investigation%20on%20Intermittent%20Observation%20in%20Mobile%20Robot.pdf Hamzah, Ahmad and Nur Aqilah, Othman (2017) Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique. In: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2016), 22 October 2016 , Shah Alam, Malaysia. pp. 17-22.. ISBN 978-1-5090-4186-2 https://doi.org/10.1109/I2CACIS.2016.7885282
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique
description	This paper deals with an analysis of intermittent observations for mobile robot localization with Fuzzy Logic approach. Mobile robot can easily lost its sight during environment observations due to several factors such as sensor faulty, and dynamic conditions. This can lead to erroneous estimation and the mobile robot become uncertain about its position. As a solution to this issue, this paper proposed a study on Fuzzy Logic technique to overcome such problem considering the Extended Kalman Filter(EKF) measurement innovation characteristic. The rules and fuzzy sets are designed such that it preserved good estimation whenever the relative angle and its relative distance measurements suddenly becomes larger than the previous measurements. The simulation results discusses two different cases observing the performance of the proposed technique. The results show that EKF with Fuzzy Logic technique is able to deal with intermittent observations if the design takes proper analysis and consideration on the measurement innovations.
format	Conference or Workshop Item
author	Hamzah, Ahmad Nur Aqilah, Othman
author_facet	Hamzah, Ahmad Nur Aqilah, Othman
author_sort	Hamzah, Ahmad
title	Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique
title_short	Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique
title_full	Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique
title_fullStr	Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique
title_full_unstemmed	Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique
title_sort	investigation on intermittent observation in mobile robot localization with fuzzy logic technique
publisher	IEEE
publishDate	2017
url	http://umpir.ump.edu.my/id/eprint/15311/ http://umpir.ump.edu.my/id/eprint/15311/ http://umpir.ump.edu.my/id/eprint/15311/1/fkee-2016-hamzah-Investigation%20on%20Intermittent%20Observation1.pdf http://umpir.ump.edu.my/id/eprint/15311/7/fkee-2017-hamzah-%20Investigation%20on%20Intermittent%20Observation%20in%20Mobile%20Robot.pdf
first_indexed	2023-09-18T22:19:51Z
last_indexed	2023-09-18T22:19:51Z
_version_	1777415583056265216

Investigation on Intermittent Observation in Mobile Robot Localization with Fuzzy Logic Technique

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